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<div class="header">
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<div class="title">io.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_COMMON_IO_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_COMMON_IO_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/PointIndices.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/conversions.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/exceptions.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;locale&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">   59</a></span>&#160;  <a class="code" href="group__common.html#ga21f637d9f7422a769448983af5fcbdeb">getFieldIndex</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, <span class="keyword">const</span> std::string &amp;field_name)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="comment">// Get the index we need</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; cloud.fields.size (); ++d)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keywordflow">if</span> (cloud.fields[d].name == field_name)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(d));</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="group__common.html#ga21f637d9f7422a769448983af5fcbdeb">getFieldIndex</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::string &amp;field_name, </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                 std::vector&lt;pcl::PCLPointField&gt; &amp;fields);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="group__common.html#ga21f637d9f7422a769448983af5fcbdeb">getFieldIndex</a> (<span class="keyword">const</span> std::string &amp;field_name, </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                 std::vector&lt;pcl::PCLPointField&gt; &amp;fields);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="group__common.html#gae88a16c0d6d70da8978ead0bb4e8e766">getFields</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, std::vector&lt;pcl::PCLPointField&gt; &amp;fields);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="group__common.html#gae88a16c0d6d70da8978ead0bb4e8e766">getFields</a> (std::vector&lt;pcl::PCLPointField&gt; &amp;fields);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> std::string </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <a class="code" href="group__common.html#ga769f320a73865c3fe30cb96c0f932e76">getFieldsList</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keyword">inline</span> std::string</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="group__common.html#ga769f320a73865c3fe30cb96c0f932e76">  114</a></span>&#160;  <a class="code" href="group__common.html#ga769f320a73865c3fe30cb96c0f932e76">getFieldsList</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    std::string result;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.fields.size () - 1; ++i)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      result += cloud.fields[i].name + <span class="stringliteral">&quot; &quot;</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    result += cloud.fields[cloud.fields.size () - 1].name;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="group__common.html#ga83ff4ee40cd3c49c7500905f59f37536">  128</a></span>&#160;  <a class="code" href="group__common.html#ga83ff4ee40cd3c49c7500905f59f37536">getFieldSize</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> datatype)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">switch</span> (datatype)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::INT8:</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::UINT8:</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">return</span> (1);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::INT16:</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::UINT16:</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordflow">return</span> (2);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::INT32:</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::UINT32:</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::FLOAT32:</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordflow">return</span> (4);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::FLOAT64:</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordflow">return</span> (8);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  getFieldsSizes (<span class="keyword">const</span> std::vector&lt;pcl::PCLPointField&gt; &amp;fields,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                  std::vector&lt;int&gt; &amp;field_sizes);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="group__common.html#gac282d255323a916e942f85b7f16740e3">  167</a></span>&#160;  <a class="code" href="group__common.html#gac4a4eaf1f19dd043252a0b93ac975a10">getFieldType</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> size, <span class="keywordtype">char</span> type)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    type = std::toupper (type, std::locale::classic ());</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordflow">switch</span> (size)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordflow">case</span> 1:</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordflow">if</span> (type == <span class="charliteral">&#39;I&#39;</span>)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <span class="keywordflow">return</span> (pcl::PCLPointField::INT8);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keywordflow">if</span> (type == <span class="charliteral">&#39;U&#39;</span>)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          <span class="keywordflow">return</span> (pcl::PCLPointField::UINT8);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordflow">case</span> 2:</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordflow">if</span> (type == <span class="charliteral">&#39;I&#39;</span>)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">return</span> (pcl::PCLPointField::INT16);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">if</span> (type == <span class="charliteral">&#39;U&#39;</span>)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          <span class="keywordflow">return</span> (pcl::PCLPointField::UINT16);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordflow">case</span> 4:</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordflow">if</span> (type == <span class="charliteral">&#39;I&#39;</span>)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordflow">return</span> (pcl::PCLPointField::INT32);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordflow">if</span> (type == <span class="charliteral">&#39;U&#39;</span>)</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          <span class="keywordflow">return</span> (pcl::PCLPointField::UINT32);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">if</span> (type == <span class="charliteral">&#39;F&#39;</span>)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          <span class="keywordflow">return</span> (pcl::PCLPointField::FLOAT32);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordflow">case</span> 8:</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordflow">return</span> (pcl::PCLPointField::FLOAT64);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">char</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="group__common.html#gac4a4eaf1f19dd043252a0b93ac975a10">  205</a></span>&#160;  <a class="code" href="group__common.html#gac4a4eaf1f19dd043252a0b93ac975a10">getFieldType</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> type)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">switch</span> (type)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::INT8:</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::INT16:</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::INT32:</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordflow">return</span> (<span class="charliteral">&#39;I&#39;</span>);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::UINT8:</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::UINT16:</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::UINT32:</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordflow">return</span> (<span class="charliteral">&#39;U&#39;</span>);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::FLOAT32:</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keywordflow">case</span> pcl::PCLPointField::FLOAT64:</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordflow">return</span> (<span class="charliteral">&#39;F&#39;</span>);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keywordflow">return</span> (<span class="charliteral">&#39;?&#39;</span>);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    BORDER_CONSTANT = 0, BORDER_REPLICATE = 1,</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    BORDER_REFLECT = 2, BORDER_WRAP = 3,</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    BORDER_REFLECT_101 = 4, BORDER_TRANSPARENT = 5,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    BORDER_DEFAULT = BORDER_REFLECT_101</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  } InterpolationType;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  PCL_EXPORTS <span class="keywordtype">int</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  interpolatePointIndex (<span class="keywordtype">int</span> p, <span class="keywordtype">int</span> length, InterpolationType type);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  PCL_EXPORTS <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="group__common.html#gaaebfbeb8e50f90057188131228b2e8b6">  253</a></span>&#160;  <a class="code" href="group__common.html#gaaebfbeb8e50f90057188131228b2e8b6">concatenatePointCloud</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud1,</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                         <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud2,</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                         <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud_out);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">  265</a></span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud_in,</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                  <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud_out);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="group__common.html#ga6052086912991a41541e3f1e40555a05">  277</a></span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud_in,</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                  <span class="keyword">const</span> std::vector&lt;<span class="keywordtype">int</span>, Eigen::aligned_allocator&lt;int&gt; &gt; &amp;indices, </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                  <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud_out);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="group__common.html#ga1c6c02fe197e0ea6ca249c46dda0e602">  287</a></span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud_in,</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                  <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud_out);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>2T&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  isSamePointType ()</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">typeid</span> (Point1T) == <span class="keyword">typeid</span> (Point2T));</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                  <span class="keyword">const</span> std::vector&lt;<span class="keywordtype">int</span>, Eigen::aligned_allocator&lt;int&gt; &gt; &amp;indices, </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;                  <span class="keyword">const</span> PointIndices &amp;indices, </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                  <span class="keyword">const</span> std::vector&lt;pcl::PointIndices&gt; &amp;indices, </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;                  <span class="keyword">const</span> std::vector&lt;<span class="keywordtype">int</span>, Eigen::aligned_allocator&lt;int&gt; &gt; &amp;indices, </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;                  <span class="keyword">const</span> PointIndices &amp;indices, </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;                  <span class="keyword">const</span> std::vector&lt;pcl::PointIndices&gt; &amp;indices, </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <a class="code" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;                  <span class="keywordtype">int</span> top, <span class="keywordtype">int</span> bottom, <span class="keywordtype">int</span> left, <span class="keywordtype">int</span> right,</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;                  pcl::InterpolationType border_type, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; value);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>In1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>In2T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  <a class="code" href="group__common.html#gac54f3a282986844fc7a804242504461e">concatenateFields</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointIn1T&gt;</a> &amp;cloud1_in, </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;                     <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointIn2T&gt;</a> &amp;cloud2_in, </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  PCL_EXPORTS <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="group__common.html#gac54f3a282986844fc7a804242504461e">  455</a></span>&#160;  <a class="code" href="group__common.html#gac54f3a282986844fc7a804242504461e">concatenateFields</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud1_in,</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud2_in,</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;                     <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud_out);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  PCL_EXPORTS <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="group__common.html#ga6d121a64a02046c1c38485ea1fad953e">  465</a></span>&#160;  <a class="code" href="group__common.html#ga6d121a64a02046c1c38485ea1fad953e">getPointCloudAsEigen</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;in, Eigen::MatrixXf &amp;out);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  PCL_EXPORTS <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="group__common.html#ga7a91d95901fcbac4a753a4212cfbf221">  474</a></span>&#160;  <a class="code" href="group__common.html#ga7a91d95901fcbac4a753a4212cfbf221">getEigenAsPointCloud</a> (Eigen::MatrixXf &amp;in, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;out);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  <span class="keyword">namespace </span>io </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  {</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="keyword">template</span> &lt;std::<span class="keywordtype">size_t</span> N&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="group__common.html#ga4bb19421457db739a96fe4eacf620139">  483</a></span>&#160;    <a class="code" href="group__common.html#ga4bb19421457db739a96fe4eacf620139">swapByte</a> (<span class="keywordtype">char</span>* bytes);</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    <span class="keyword">template</span> &lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    swapByte&lt;1&gt; (<span class="keywordtype">char</span>* bytes) { bytes[0] = bytes[0]; }</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keyword">template</span> &lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    swapByte&lt;2&gt; (<span class="keywordtype">char</span>* bytes) { std::swap (bytes[0], bytes[1]); }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="keyword">template</span> &lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    swapByte&lt;4&gt; (<span class="keywordtype">char</span>* bytes)</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    {</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;      std::swap (bytes[0], bytes[3]);</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      std::swap (bytes[1], bytes[2]);</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    }</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    <span class="keyword">template</span> &lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    swapByte&lt;8&gt; (<span class="keywordtype">char</span>* bytes)</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    {</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      std::swap (bytes[0], bytes[7]);</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      std::swap (bytes[1], bytes[6]);</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      std::swap (bytes[2], bytes[5]);</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      std::swap (bytes[3], bytes[4]);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    }</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    <a class="code" href="group__common.html#ga4bb19421457db739a96fe4eacf620139">swapByte</a> (T&amp; value)</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    {</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      pcl::io::swapByte&lt;sizeof(T)&gt; (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;value));</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    }</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  }</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;}</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/io.hpp&gt;</span></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_COMMON_IO_H_</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="agroup__common_html_ga21f637d9f7422a769448983af5fcbdeb"><div class="ttname"><a href="group__common.html#ga21f637d9f7422a769448983af5fcbdeb">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const std::string &amp;field_name, std::vector&lt; pcl::PCLPointField &gt; &amp;fields)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.hpp:65</div></div>
<div class="ttc" id="agroup__common_html_ga4bb19421457db739a96fe4eacf620139"><div class="ttname"><a href="group__common.html#ga4bb19421457db739a96fe4eacf620139">pcl::io::swapByte</a></div><div class="ttdeci">void swapByte(char *bytes)</div><div class="ttdoc">swap bytes order of a char array of length N</div></div>
<div class="ttc" id="agroup__common_html_ga4d12b955edd61947ed984e46d65b0046"><div class="ttname"><a href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">pcl::copyPointCloud</a></div><div class="ttdeci">void copyPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, int top, int bottom, int left, int right, pcl::InterpolationType border_type, const PointT &amp;value)</div><div class="ttdoc">Copy a point cloud inside a larger one interpolating borders.</div><div class="ttdef"><b>Definition:</b> io.hpp:380</div></div>
<div class="ttc" id="agroup__common_html_ga6d121a64a02046c1c38485ea1fad953e"><div class="ttname"><a href="group__common.html#ga6d121a64a02046c1c38485ea1fad953e">pcl::getPointCloudAsEigen</a></div><div class="ttdeci">PCL_EXPORTS bool getPointCloudAsEigen(const pcl::PCLPointCloud2 &amp;in, Eigen::MatrixXf &amp;out)</div><div class="ttdoc">Copy the XYZ dimensions of a pcl::PCLPointCloud2 into Eigen format</div></div>
<div class="ttc" id="agroup__common_html_ga769f320a73865c3fe30cb96c0f932e76"><div class="ttname"><a href="group__common.html#ga769f320a73865c3fe30cb96c0f932e76">pcl::getFieldsList</a></div><div class="ttdeci">std::string getFieldsList(const pcl::PCLPointCloud2 &amp;cloud)</div><div class="ttdoc">Get the available point cloud fields as a space separated string</div><div class="ttdef"><b>Definition:</b> io.h:114</div></div>
<div class="ttc" id="agroup__common_html_ga7a91d95901fcbac4a753a4212cfbf221"><div class="ttname"><a href="group__common.html#ga7a91d95901fcbac4a753a4212cfbf221">pcl::getEigenAsPointCloud</a></div><div class="ttdeci">PCL_EXPORTS bool getEigenAsPointCloud(Eigen::MatrixXf &amp;in, pcl::PCLPointCloud2 &amp;out)</div><div class="ttdoc">Copy the XYZ dimensions from an Eigen MatrixXf into a pcl::PCLPointCloud2 message</div></div>
<div class="ttc" id="agroup__common_html_ga83ff4ee40cd3c49c7500905f59f37536"><div class="ttname"><a href="group__common.html#ga83ff4ee40cd3c49c7500905f59f37536">pcl::getFieldSize</a></div><div class="ttdeci">int getFieldSize(const int datatype)</div><div class="ttdoc">Obtains the size of a specific field data type in bytes</div><div class="ttdef"><b>Definition:</b> io.h:128</div></div>
<div class="ttc" id="agroup__common_html_gaaebfbeb8e50f90057188131228b2e8b6"><div class="ttname"><a href="group__common.html#gaaebfbeb8e50f90057188131228b2e8b6">pcl::concatenatePointCloud</a></div><div class="ttdeci">PCL_EXPORTS bool concatenatePointCloud(const pcl::PCLPointCloud2 &amp;cloud1, const pcl::PCLPointCloud2 &amp;cloud2, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Concatenate two pcl::PCLPointCloud2.</div></div>
<div class="ttc" id="agroup__common_html_gac4a4eaf1f19dd043252a0b93ac975a10"><div class="ttname"><a href="group__common.html#gac4a4eaf1f19dd043252a0b93ac975a10">pcl::getFieldType</a></div><div class="ttdeci">char getFieldType(const int type)</div><div class="ttdoc">Obtains the type of the PCLPointField from a specific PCLPointField as a char</div><div class="ttdef"><b>Definition:</b> io.h:205</div></div>
<div class="ttc" id="agroup__common_html_gac54f3a282986844fc7a804242504461e"><div class="ttname"><a href="group__common.html#gac54f3a282986844fc7a804242504461e">pcl::concatenateFields</a></div><div class="ttdeci">PCL_EXPORTS bool concatenateFields(const pcl::PCLPointCloud2 &amp;cloud1_in, const pcl::PCLPointCloud2 &amp;cloud2_in, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Concatenate two datasets representing different fields.</div></div>
<div class="ttc" id="agroup__common_html_gae88a16c0d6d70da8978ead0bb4e8e766"><div class="ttname"><a href="group__common.html#gae88a16c0d6d70da8978ead0bb4e8e766">pcl::getFields</a></div><div class="ttdeci">void getFields(std::vector&lt; pcl::PCLPointField &gt; &amp;fields)</div><div class="ttdoc">Get the list of available fields (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.hpp:88</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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